844 lines
40 KiB
C++
844 lines
40 KiB
C++
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// Copyright (c) 2022 Ultimaker B.V.
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// CuraEngine is released under the terms of the AGPLv3 or higher.
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#include <algorithm> //For std::partition_copy and std::min_element.
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#include <unordered_set>
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#include "WallToolPaths.hpp"
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#include "SkeletalTrapezoidation.hpp"
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#include "../ClipperUtils.hpp"
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#include "utils/linearAlg2D.hpp"
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#include "EdgeGrid.hpp"
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#include "utils/SparseLineGrid.hpp"
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#include "Geometry.hpp"
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#include "utils/PolylineStitcher.hpp"
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#include "SVG.hpp"
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#include "Utils.hpp"
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#include <boost/log/trivial.hpp>
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//#define ARACHNE_STITCH_PATCH_DEBUG
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namespace Slic3r::Arachne
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{
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WallToolPaths::WallToolPaths(const Polygons& outline, const coord_t bead_width_0, const coord_t bead_width_x,
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const size_t inset_count, const coord_t wall_0_inset, const coordf_t layer_height, const WallToolPathsParams ¶ms)
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: outline(outline)
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, bead_width_0(bead_width_0)
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, bead_width_x(bead_width_x)
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, inset_count(inset_count)
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, wall_0_inset(wall_0_inset)
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, layer_height(layer_height)
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, print_thin_walls(Slic3r::Arachne::fill_outline_gaps)
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, min_feature_size(scaled<coord_t>(params.min_feature_size))
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, min_bead_width(scaled<coord_t>(params.min_bead_width))
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, small_area_length(static_cast<double>(bead_width_0) / 2.)
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, wall_transition_filter_deviation(scaled<coord_t>(params.wall_transition_filter_deviation))
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, toolpaths_generated(false)
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, m_params(params)
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{
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}
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void simplify(Polygon &thiss, const int64_t smallest_line_segment_squared, const int64_t allowed_error_distance_squared)
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{
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if (thiss.size() < 3) {
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thiss.points.clear();
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return;
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}
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if (thiss.size() == 3)
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return;
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Polygon new_path;
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Point previous = thiss.points.back();
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Point previous_previous = thiss.points.at(thiss.points.size() - 2);
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Point current = thiss.points.at(0);
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/* When removing a vertex, we check the height of the triangle of the area
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being removed from the original polygon by the simplification. However,
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when consecutively removing multiple vertices the height of the previously
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removed vertices w.r.t. the shortcut path changes.
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In order to not recompute the new height value of previously removed
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vertices we compute the height of a representative triangle, which covers
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the same amount of area as the area being cut off. We use the Shoelace
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formula to accumulate the area under the removed segments. This works by
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computing the area in a 'fan' where each of the blades of the fan go from
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the origin to one of the segments. While removing vertices the area in
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this fan accumulates. By subtracting the area of the blade connected to
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the short-cutting segment we obtain the total area of the cutoff region.
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From this area we compute the height of the representative triangle using
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the standard formula for a triangle area: A = .5*b*h
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*/
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int64_t accumulated_area_removed = int64_t(previous.x()) * int64_t(current.y()) - int64_t(previous.y()) * int64_t(current.x()); // Twice the Shoelace formula for area of polygon per line segment.
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for (size_t point_idx = 0; point_idx < thiss.points.size(); point_idx++) {
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current = thiss.points.at(point_idx % thiss.points.size());
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//Check if the accumulated area doesn't exceed the maximum.
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Point next;
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if (point_idx + 1 < thiss.points.size()) {
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next = thiss.points.at(point_idx + 1);
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} else if (point_idx + 1 == thiss.points.size() && new_path.size() > 1) { // don't spill over if the [next] vertex will then be equal to [previous]
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next = new_path[0]; //Spill over to new polygon for checking removed area.
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} else {
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next = thiss.points.at((point_idx + 1) % thiss.points.size());
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}
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const int64_t removed_area_next = int64_t(current.x()) * int64_t(next.y()) - int64_t(current.y()) * int64_t(next.x()); // Twice the Shoelace formula for area of polygon per line segment.
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const int64_t negative_area_closing = int64_t(next.x()) * int64_t(previous.y()) - int64_t(next.y()) * int64_t(previous.x()); // area between the origin and the short-cutting segment
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accumulated_area_removed += removed_area_next;
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const int64_t length2 = (current - previous).cast<int64_t>().squaredNorm();
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if (length2 < scaled<int64_t>(25.)) {
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// We're allowed to always delete segments of less than 5 micron.
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continue;
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}
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const int64_t area_removed_so_far = accumulated_area_removed + negative_area_closing; // close the shortcut area polygon
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const int64_t base_length_2 = (next - previous).cast<int64_t>().squaredNorm();
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if (base_length_2 == 0) //Two line segments form a line back and forth with no area.
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continue; //Remove the vertex.
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//We want to check if the height of the triangle formed by previous, current and next vertices is less than allowed_error_distance_squared.
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//1/2 L = A [actual area is half of the computed shoelace value] // Shoelace formula is .5*(...) , but we simplify the computation and take out the .5
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//A = 1/2 * b * h [triangle area formula]
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//L = b * h [apply above two and take out the 1/2]
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//h = L / b [divide by b]
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//h^2 = (L / b)^2 [square it]
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//h^2 = L^2 / b^2 [factor the divisor]
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const int64_t height_2 = double(area_removed_so_far) * double(area_removed_so_far) / double(base_length_2);
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if ((height_2 <= Slic3r::sqr(scaled<coord_t>(0.005)) //Almost exactly colinear (barring rounding errors).
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&& Line::distance_to_infinite(current, previous, next) <= scaled<double>(0.005))) // make sure that height_2 is not small because of cancellation of positive and negative areas
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continue;
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if (length2 < smallest_line_segment_squared
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&& height_2 <= allowed_error_distance_squared) // removing the vertex doesn't introduce too much error.)
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{
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const int64_t next_length2 = (current - next).cast<int64_t>().squaredNorm();
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if (next_length2 > 4 * smallest_line_segment_squared) {
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// Special case; The next line is long. If we were to remove this, it could happen that we get quite noticeable artifacts.
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// We should instead move this point to a location where both edges are kept and then remove the previous point that we wanted to keep.
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// By taking the intersection of these two lines, we get a point that preserves the direction (so it makes the corner a bit more pointy).
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// We just need to be sure that the intersection point does not introduce an artifact itself.
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Point intersection_point;
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bool has_intersection = Line(previous_previous, previous).intersection_infinite(Line(current, next), &intersection_point);
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if (!has_intersection
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|| Line::distance_to_infinite_squared(intersection_point, previous, current) > double(allowed_error_distance_squared)
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|| (intersection_point - previous).cast<int64_t>().squaredNorm() > smallest_line_segment_squared // The intersection point is way too far from the 'previous'
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|| (intersection_point - next).cast<int64_t>().squaredNorm() > smallest_line_segment_squared) // and 'next' points, so it shouldn't replace 'current'
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{
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// We can't find a better spot for it, but the size of the line is more than 5 micron.
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// So the only thing we can do here is leave it in...
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}
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else {
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// New point seems like a valid one.
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current = intersection_point;
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// If there was a previous point added, remove it.
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if(!new_path.empty()) {
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new_path.points.pop_back();
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previous = previous_previous;
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}
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}
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} else {
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continue; //Remove the vertex.
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}
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}
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//Don't remove the vertex.
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accumulated_area_removed = removed_area_next; // so that in the next iteration it's the area between the origin, [previous] and [current]
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previous_previous = previous;
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previous = current; //Note that "previous" is only updated if we don't remove the vertex.
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new_path.points.push_back(current);
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}
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thiss = new_path;
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}
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/*!
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* Removes vertices of the polygons to make sure that they are not too high
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* resolution.
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*
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* This removes points which are connected to line segments that are shorter
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* than the `smallest_line_segment`, unless that would introduce a deviation
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* in the contour of more than `allowed_error_distance`.
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*
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* Criteria:
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* 1. Never remove a vertex if either of the connceted segments is larger than \p smallest_line_segment
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* 2. Never remove a vertex if the distance between that vertex and the final resulting polygon would be higher than \p allowed_error_distance
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* 3. The direction of segments longer than \p smallest_line_segment always
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* remains unaltered (but their end points may change if it is connected to
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* a small segment)
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*
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* Simplify uses a heuristic and doesn't neccesarily remove all removable
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* vertices under the above criteria, but simplify may never violate these
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* criteria. Unless the segments or the distance is smaller than the
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* rounding error of 5 micron.
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*
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* Vertices which introduce an error of less than 5 microns are removed
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* anyway, even if the segments are longer than the smallest line segment.
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* This makes sure that (practically) colinear line segments are joined into
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* a single line segment.
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* \param smallest_line_segment Maximal length of removed line segments.
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* \param allowed_error_distance If removing a vertex introduces a deviation
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* from the original path that is more than this distance, the vertex may
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* not be removed.
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*/
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void simplify(Polygons &thiss, const int64_t smallest_line_segment = scaled<coord_t>(0.01), const int64_t allowed_error_distance = scaled<coord_t>(0.005))
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{
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const int64_t allowed_error_distance_squared = int64_t(allowed_error_distance) * int64_t(allowed_error_distance);
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const int64_t smallest_line_segment_squared = int64_t(smallest_line_segment) * int64_t(smallest_line_segment);
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for (size_t p = 0; p < thiss.size(); p++)
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{
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simplify(thiss[p], smallest_line_segment_squared, allowed_error_distance_squared);
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if (thiss[p].size() < 3)
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{
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thiss.erase(thiss.begin() + p);
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p--;
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}
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}
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}
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typedef SparseLineGrid<PolygonsPointIndex, PolygonsPointIndexSegmentLocator> LocToLineGrid;
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std::unique_ptr<LocToLineGrid> createLocToLineGrid(const Polygons &polygons, int square_size)
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{
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unsigned int n_points = 0;
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for (const auto &poly : polygons)
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n_points += poly.size();
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auto ret = std::make_unique<LocToLineGrid>(square_size, n_points);
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for (unsigned int poly_idx = 0; poly_idx < polygons.size(); poly_idx++)
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for (unsigned int point_idx = 0; point_idx < polygons[poly_idx].size(); point_idx++)
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ret->insert(PolygonsPointIndex(&polygons, poly_idx, point_idx));
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return ret;
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}
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/* Note: Also tries to solve for near-self intersections, when epsilon >= 1
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*/
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void fixSelfIntersections(const coord_t epsilon, Polygons &thiss)
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{
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if (epsilon < 1) {
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ClipperLib::SimplifyPolygons(ClipperUtils::PolygonsProvider(thiss));
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return;
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}
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const int64_t half_epsilon = (epsilon + 1) / 2;
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// Points too close to line segments should be moved a little away from those line segments, but less than epsilon,
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// so at least half-epsilon distance between points can still be guaranteed.
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constexpr coord_t grid_size = scaled<coord_t>(2.);
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auto query_grid = createLocToLineGrid(thiss, grid_size);
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const auto move_dist = std::max<int64_t>(2L, half_epsilon - 2);
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const int64_t half_epsilon_sqrd = half_epsilon * half_epsilon;
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const size_t n = thiss.size();
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for (size_t poly_idx = 0; poly_idx < n; poly_idx++) {
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const size_t pathlen = thiss[poly_idx].size();
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for (size_t point_idx = 0; point_idx < pathlen; ++point_idx) {
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Point &pt = thiss[poly_idx][point_idx];
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for (const auto &line : query_grid->getNearby(pt, epsilon)) {
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const size_t line_next_idx = (line.point_idx + 1) % thiss[line.poly_idx].size();
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if (poly_idx == line.poly_idx && (point_idx == line.point_idx || point_idx == line_next_idx))
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continue;
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const Line segment(thiss[line.poly_idx][line.point_idx], thiss[line.poly_idx][line_next_idx]);
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Point segment_closest_point;
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segment.distance_to_squared(pt, &segment_closest_point);
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if (half_epsilon_sqrd >= (pt - segment_closest_point).cast<int64_t>().squaredNorm()) {
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const Point &other = thiss[poly_idx][(point_idx + 1) % pathlen];
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const Vec2i64 vec = (LinearAlg2D::pointIsLeftOfLine(other, segment.a, segment.b) > 0 ? segment.b - segment.a : segment.a - segment.b).cast<int64_t>();
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assert(Slic3r::sqr(double(vec.x())) < double(std::numeric_limits<int64_t>::max()));
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assert(Slic3r::sqr(double(vec.y())) < double(std::numeric_limits<int64_t>::max()));
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const int64_t len = vec.norm();
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pt.x() += (-vec.y() * move_dist) / len;
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pt.y() += (vec.x() * move_dist) / len;
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}
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}
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}
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}
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ClipperLib::SimplifyPolygons(ClipperUtils::PolygonsProvider(thiss));
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}
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/*!
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* Removes overlapping consecutive line segments which don't delimit a positive area.
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*/
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void removeDegenerateVerts(Polygons &thiss)
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{
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for (size_t poly_idx = 0; poly_idx < thiss.size(); poly_idx++) {
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Polygon &poly = thiss[poly_idx];
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Polygon result;
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auto isDegenerate = [](const Point &last, const Point &now, const Point &next) {
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Vec2i64 last_line = (now - last).cast<int64_t>();
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Vec2i64 next_line = (next - now).cast<int64_t>();
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return last_line.dot(next_line) == -1 * last_line.norm() * next_line.norm();
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};
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bool isChanged = false;
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for (size_t idx = 0; idx < poly.size(); idx++) {
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const Point &last = (result.size() == 0) ? poly.back() : result.back();
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if (idx + 1 == poly.size() && result.size() == 0)
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break;
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const Point &next = (idx + 1 == poly.size()) ? result[0] : poly[idx + 1];
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if (isDegenerate(last, poly[idx], next)) { // lines are in the opposite direction
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// don't add vert to the result
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isChanged = true;
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while (result.size() > 1 && isDegenerate(result[result.size() - 2], result.back(), next))
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result.points.pop_back();
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} else {
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result.points.emplace_back(poly[idx]);
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}
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}
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if (isChanged) {
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if (result.size() > 2) {
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poly = result;
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} else {
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thiss.erase(thiss.begin() + poly_idx);
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poly_idx--; // effectively the next iteration has the same poly_idx (referring to a new poly which is not yet processed)
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}
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}
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}
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}
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|
void removeSmallAreas(Polygons &thiss, const double min_area_size, const bool remove_holes)
|
||
|
|
{
|
||
|
|
auto to_path = [](const Polygon &poly) -> ClipperLib::Path {
|
||
|
|
ClipperLib::Path out;
|
||
|
|
for (const Point &pt : poly.points)
|
||
|
|
out.emplace_back(ClipperLib::cInt(pt.x()), ClipperLib::cInt(pt.y()));
|
||
|
|
return out;
|
||
|
|
};
|
||
|
|
|
||
|
|
auto new_end = thiss.end();
|
||
|
|
if (remove_holes) {
|
||
|
|
for (auto it = thiss.begin(); it < new_end;) {
|
||
|
|
// All polygons smaller than target are removed by replacing them with a polygon from the back of the vector.
|
||
|
|
if (fabs(ClipperLib::Area(to_path(*it))) < min_area_size) {
|
||
|
|
--new_end;
|
||
|
|
*it = std::move(*new_end);
|
||
|
|
continue; // Don't increment the iterator such that the polygon just swapped in is checked next.
|
||
|
|
}
|
||
|
|
++it;
|
||
|
|
}
|
||
|
|
} else {
|
||
|
|
// For each polygon, computes the signed area, move small outlines at the end of the vector and keep pointer on small holes
|
||
|
|
std::vector<Polygon> small_holes;
|
||
|
|
for (auto it = thiss.begin(); it < new_end;) {
|
||
|
|
if (double area = ClipperLib::Area(to_path(*it)); fabs(area) < min_area_size) {
|
||
|
|
if (area >= 0) {
|
||
|
|
--new_end;
|
||
|
|
if (it < new_end) {
|
||
|
|
std::swap(*new_end, *it);
|
||
|
|
continue;
|
||
|
|
} else { // Don't self-swap the last Path
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
} else {
|
||
|
|
small_holes.push_back(*it);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
++it;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Removes small holes that have their first point inside one of the removed outlines
|
||
|
|
// Iterating in reverse ensures that unprocessed small holes won't be moved
|
||
|
|
const auto removed_outlines_start = new_end;
|
||
|
|
for (auto hole_it = small_holes.rbegin(); hole_it < small_holes.rend(); hole_it++)
|
||
|
|
for (auto outline_it = removed_outlines_start; outline_it < thiss.end(); outline_it++)
|
||
|
|
if (Polygon(*outline_it).contains(*hole_it->begin())) {
|
||
|
|
new_end--;
|
||
|
|
*hole_it = std::move(*new_end);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
thiss.resize(new_end-thiss.begin());
|
||
|
|
}
|
||
|
|
|
||
|
|
void removeColinearEdges(Polygon &poly, const double max_deviation_angle)
|
||
|
|
{
|
||
|
|
// TODO: Can be made more efficient (for example, use pointer-types for process-/skip-indices, so we can swap them without copy).
|
||
|
|
size_t num_removed_in_iteration = 0;
|
||
|
|
do {
|
||
|
|
num_removed_in_iteration = 0;
|
||
|
|
std::vector<bool> process_indices(poly.points.size(), true);
|
||
|
|
|
||
|
|
bool go = true;
|
||
|
|
while (go) {
|
||
|
|
go = false;
|
||
|
|
|
||
|
|
const auto &rpath = poly;
|
||
|
|
const size_t pathlen = rpath.size();
|
||
|
|
if (pathlen <= 3)
|
||
|
|
return;
|
||
|
|
|
||
|
|
std::vector<bool> skip_indices(poly.points.size(), false);
|
||
|
|
|
||
|
|
Polygon new_path;
|
||
|
|
for (size_t point_idx = 0; point_idx < pathlen; ++point_idx) {
|
||
|
|
// Don't iterate directly over process-indices, but do it this way, because there are points _in_ process-indices that should nonetheless
|
||
|
|
// be skipped:
|
||
|
|
if (!process_indices[point_idx]) {
|
||
|
|
new_path.points.push_back(rpath[point_idx]);
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Should skip the last point for this iteration if the old first was removed (which can be seen from the fact that the new first was skipped):
|
||
|
|
if (point_idx == (pathlen - 1) && skip_indices[0]) {
|
||
|
|
skip_indices[new_path.size()] = true;
|
||
|
|
go = true;
|
||
|
|
new_path.points.push_back(rpath[point_idx]);
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
const Point &prev = rpath[(point_idx - 1 + pathlen) % pathlen];
|
||
|
|
const Point &pt = rpath[point_idx];
|
||
|
|
const Point &next = rpath[(point_idx + 1) % pathlen];
|
||
|
|
|
||
|
|
float angle = LinearAlg2D::getAngleLeft(prev, pt, next); // [0 : 2 * pi]
|
||
|
|
if (angle >= float(M_PI)) { angle -= float(M_PI); } // map [pi : 2 * pi] to [0 : pi]
|
||
|
|
|
||
|
|
// Check if the angle is within limits for the point to 'make sense', given the maximum deviation.
|
||
|
|
// If the angle indicates near-parallel segments ignore the point 'pt'
|
||
|
|
if (angle > max_deviation_angle && angle < M_PI - max_deviation_angle) {
|
||
|
|
new_path.points.push_back(pt);
|
||
|
|
} else if (point_idx != (pathlen - 1)) {
|
||
|
|
// Skip the next point, since the current one was removed:
|
||
|
|
skip_indices[new_path.size()] = true;
|
||
|
|
go = true;
|
||
|
|
new_path.points.push_back(next);
|
||
|
|
++point_idx;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
poly = new_path;
|
||
|
|
num_removed_in_iteration += pathlen - poly.points.size();
|
||
|
|
|
||
|
|
process_indices.clear();
|
||
|
|
process_indices.insert(process_indices.end(), skip_indices.begin(), skip_indices.end());
|
||
|
|
}
|
||
|
|
} while (num_removed_in_iteration > 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
void removeColinearEdges(Polygons &thiss, const double max_deviation_angle = 0.0005)
|
||
|
|
{
|
||
|
|
for (int p = 0; p < int(thiss.size()); p++) {
|
||
|
|
removeColinearEdges(thiss[p], max_deviation_angle);
|
||
|
|
if (thiss[p].size() < 3) {
|
||
|
|
thiss.erase(thiss.begin() + p);
|
||
|
|
p--;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
const std::vector<VariableWidthLines> &WallToolPaths::generate()
|
||
|
|
{
|
||
|
|
if (this->inset_count < 1)
|
||
|
|
return toolpaths;
|
||
|
|
|
||
|
|
const coord_t smallest_segment = Slic3r::Arachne::meshfix_maximum_resolution;
|
||
|
|
const coord_t allowed_distance = Slic3r::Arachne::meshfix_maximum_deviation;
|
||
|
|
const coord_t epsilon_offset = (allowed_distance / 2) - 1;
|
||
|
|
const double transitioning_angle = Geometry::deg2rad(m_params.wall_transition_angle);
|
||
|
|
constexpr coord_t discretization_step_size = scaled<coord_t>(0.8);
|
||
|
|
|
||
|
|
// Simplify outline for boost::voronoi consumption. Absolutely no self intersections or near-self intersections allowed:
|
||
|
|
// TODO: Open question: Does this indeed fix all (or all-but-one-in-a-million) cases for manifold but otherwise possibly complex polygons?
|
||
|
|
Polygons prepared_outline = offset(offset(offset(outline, -epsilon_offset), epsilon_offset * 2), -epsilon_offset);
|
||
|
|
simplify(prepared_outline, smallest_segment, allowed_distance);
|
||
|
|
fixSelfIntersections(epsilon_offset, prepared_outline);
|
||
|
|
removeDegenerateVerts(prepared_outline);
|
||
|
|
removeColinearEdges(prepared_outline, 0.005);
|
||
|
|
// Removing collinear edges may introduce self intersections, so we need to fix them again
|
||
|
|
fixSelfIntersections(epsilon_offset, prepared_outline);
|
||
|
|
removeDegenerateVerts(prepared_outline);
|
||
|
|
removeSmallAreas(prepared_outline, small_area_length * small_area_length, false);
|
||
|
|
|
||
|
|
// The functions above could produce intersecting polygons that could cause a crash inside Arachne.
|
||
|
|
// Applying Clipper union should be enough to get rid of this issue.
|
||
|
|
// Clipper union also fixed an issue in Arachne that in post-processing Voronoi diagram, some edges
|
||
|
|
// didn't have twin edges. (a non-planar Voronoi diagram probably caused this).
|
||
|
|
prepared_outline = union_(prepared_outline);
|
||
|
|
|
||
|
|
if (area(prepared_outline) <= 0) {
|
||
|
|
assert(toolpaths.empty());
|
||
|
|
return toolpaths;
|
||
|
|
}
|
||
|
|
|
||
|
|
const float external_perimeter_extrusion_width = Flow::rounded_rectangle_extrusion_width_from_spacing(unscale<float>(bead_width_0), float(this->layer_height));
|
||
|
|
const float perimeter_extrusion_width = Flow::rounded_rectangle_extrusion_width_from_spacing(unscale<float>(bead_width_x), float(this->layer_height));
|
||
|
|
|
||
|
|
const coord_t wall_transition_length = scaled<coord_t>(this->m_params.wall_transition_length);
|
||
|
|
|
||
|
|
const double wall_split_middle_threshold = std::clamp(2. * unscaled<double>(this->min_bead_width) / external_perimeter_extrusion_width - 1., 0.01, 0.99); // For an uneven nr. of lines: When to split the middle wall into two.
|
||
|
|
const double wall_add_middle_threshold = std::clamp(unscaled<double>(this->min_bead_width) / perimeter_extrusion_width, 0.01, 0.99); // For an even nr. of lines: When to add a new middle in between the innermost two walls.
|
||
|
|
|
||
|
|
const int wall_distribution_count = this->m_params.wall_distribution_count;
|
||
|
|
const size_t max_bead_count = (inset_count < std::numeric_limits<coord_t>::max() / 2) ? 2 * inset_count : std::numeric_limits<coord_t>::max();
|
||
|
|
const auto beading_strat = BeadingStrategyFactory::makeStrategy
|
||
|
|
(
|
||
|
|
bead_width_0,
|
||
|
|
bead_width_x,
|
||
|
|
wall_transition_length,
|
||
|
|
transitioning_angle,
|
||
|
|
print_thin_walls,
|
||
|
|
min_bead_width,
|
||
|
|
min_feature_size,
|
||
|
|
wall_split_middle_threshold,
|
||
|
|
wall_add_middle_threshold,
|
||
|
|
max_bead_count,
|
||
|
|
wall_0_inset,
|
||
|
|
wall_distribution_count
|
||
|
|
);
|
||
|
|
const coord_t transition_filter_dist = scaled<coord_t>(100.f);
|
||
|
|
const coord_t allowed_filter_deviation = wall_transition_filter_deviation;
|
||
|
|
SkeletalTrapezoidation wall_maker
|
||
|
|
(
|
||
|
|
prepared_outline,
|
||
|
|
*beading_strat,
|
||
|
|
beading_strat->getTransitioningAngle(),
|
||
|
|
discretization_step_size,
|
||
|
|
transition_filter_dist,
|
||
|
|
allowed_filter_deviation,
|
||
|
|
wall_transition_length
|
||
|
|
);
|
||
|
|
wall_maker.generateToolpaths(toolpaths);
|
||
|
|
|
||
|
|
stitchToolPaths(toolpaths, this->bead_width_x);
|
||
|
|
|
||
|
|
removeSmallLines(toolpaths);
|
||
|
|
|
||
|
|
separateOutInnerContour();
|
||
|
|
|
||
|
|
simplifyToolPaths(toolpaths);
|
||
|
|
|
||
|
|
removeEmptyToolPaths(toolpaths);
|
||
|
|
assert(std::is_sorted(toolpaths.cbegin(), toolpaths.cend(),
|
||
|
|
[](const VariableWidthLines& l, const VariableWidthLines& r)
|
||
|
|
{
|
||
|
|
return l.front().inset_idx < r.front().inset_idx;
|
||
|
|
}) && "WallToolPaths should be sorted from the outer 0th to inner_walls");
|
||
|
|
toolpaths_generated = true;
|
||
|
|
return toolpaths;
|
||
|
|
}
|
||
|
|
|
||
|
|
void WallToolPaths::stitchToolPaths(std::vector<VariableWidthLines> &toolpaths, const coord_t bead_width_x)
|
||
|
|
{
|
||
|
|
const coord_t stitch_distance = bead_width_x - 1; //In 0-width contours, junctions can cause up to 1-line-width gaps. Don't stitch more than 1 line width.
|
||
|
|
|
||
|
|
for (unsigned int wall_idx = 0; wall_idx < toolpaths.size(); wall_idx++) {
|
||
|
|
VariableWidthLines& wall_lines = toolpaths[wall_idx];
|
||
|
|
|
||
|
|
VariableWidthLines stitched_polylines;
|
||
|
|
VariableWidthLines closed_polygons;
|
||
|
|
PolylineStitcher<VariableWidthLines, ExtrusionLine, ExtrusionJunction>::stitch(wall_lines, stitched_polylines, closed_polygons, stitch_distance);
|
||
|
|
#ifdef ARACHNE_STITCH_PATCH_DEBUG
|
||
|
|
for (const ExtrusionLine& line : stitched_polylines) {
|
||
|
|
if ( ! line.is_odd && line.polylineLength() > 3 * stitch_distance && line.size() > 3) {
|
||
|
|
BOOST_LOG_TRIVIAL(error) << "Some even contour lines could not be closed into polygons!";
|
||
|
|
assert(false && "Some even contour lines could not be closed into polygons!");
|
||
|
|
BoundingBox aabb;
|
||
|
|
for (auto line2 : wall_lines)
|
||
|
|
for (auto j : line2)
|
||
|
|
aabb.merge(j.p);
|
||
|
|
{
|
||
|
|
static int iRun = 0;
|
||
|
|
SVG svg(debug_out_path("contours_before.svg-%d.png", iRun), aabb);
|
||
|
|
std::array<const char *, 8> colors = {"gray", "black", "blue", "green", "lime", "purple", "red", "yellow"};
|
||
|
|
size_t color_idx = 0;
|
||
|
|
for (auto& inset : toolpaths)
|
||
|
|
for (auto& line2 : inset) {
|
||
|
|
// svg.writePolyline(line2.toPolygon(), col);
|
||
|
|
|
||
|
|
Polygon poly = line2.toPolygon();
|
||
|
|
Point last = poly.front();
|
||
|
|
for (size_t idx = 1 ; idx < poly.size(); idx++) {
|
||
|
|
Point here = poly[idx];
|
||
|
|
svg.draw(Line(last, here), colors[color_idx]);
|
||
|
|
// svg.draw_text((last + here) / 2, std::to_string(line2.junctions[idx].region_id).c_str(), "black");
|
||
|
|
last = here;
|
||
|
|
}
|
||
|
|
svg.draw(poly[0], colors[color_idx]);
|
||
|
|
// svg.nextLayer();
|
||
|
|
// svg.writePoints(poly, true, 0.1);
|
||
|
|
// svg.nextLayer();
|
||
|
|
color_idx = (color_idx + 1) % colors.size();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
{
|
||
|
|
static int iRun = 0;
|
||
|
|
SVG svg(debug_out_path("contours-%d.svg", iRun), aabb);
|
||
|
|
for (auto& inset : toolpaths)
|
||
|
|
for (auto& line2 : inset)
|
||
|
|
svg.draw_outline(line2.toPolygon(), "gray");
|
||
|
|
for (auto& line2 : stitched_polylines) {
|
||
|
|
const char *col = line2.is_odd ? "gray" : "red";
|
||
|
|
if ( ! line2.is_odd)
|
||
|
|
std::cerr << "Non-closed even wall of size: " << line2.size() << " at " << line2.front().p << "\n";
|
||
|
|
if ( ! line2.is_odd)
|
||
|
|
svg.draw(line2.front().p);
|
||
|
|
Polygon poly = line2.toPolygon();
|
||
|
|
Point last = poly.front();
|
||
|
|
for (size_t idx = 1 ; idx < poly.size(); idx++)
|
||
|
|
{
|
||
|
|
Point here = poly[idx];
|
||
|
|
svg.draw(Line(last, here), col);
|
||
|
|
last = here;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
for (auto line2 : closed_polygons)
|
||
|
|
svg.draw(line2.toPolygon());
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif // ARACHNE_STITCH_PATCH_DEBUG
|
||
|
|
wall_lines = stitched_polylines; // replace input toolpaths with stitched polylines
|
||
|
|
|
||
|
|
for (ExtrusionLine& wall_polygon : closed_polygons)
|
||
|
|
{
|
||
|
|
if (wall_polygon.junctions.empty())
|
||
|
|
{
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
|
||
|
|
// PolylineStitcher, in some cases, produced closed extrusion (polygons),
|
||
|
|
// but the endpoints differ by a small distance. So we reconnect them.
|
||
|
|
// FIXME Lukas H.: Investigate more deeply why it is happening.
|
||
|
|
if (wall_polygon.junctions.front().p != wall_polygon.junctions.back().p &&
|
||
|
|
(wall_polygon.junctions.back().p - wall_polygon.junctions.front().p).cast<double>().norm() < stitch_distance) {
|
||
|
|
wall_polygon.junctions.emplace_back(wall_polygon.junctions.front());
|
||
|
|
}
|
||
|
|
wall_polygon.is_closed = true;
|
||
|
|
wall_lines.emplace_back(std::move(wall_polygon)); // add stitched polygons to result
|
||
|
|
}
|
||
|
|
#ifdef DEBUG
|
||
|
|
for (ExtrusionLine& line : wall_lines)
|
||
|
|
{
|
||
|
|
assert(line.inset_idx == wall_idx);
|
||
|
|
}
|
||
|
|
#endif // DEBUG
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename T> bool shorterThan(const T &shape, const coord_t check_length)
|
||
|
|
{
|
||
|
|
const auto *p0 = &shape.back();
|
||
|
|
int64_t length = 0;
|
||
|
|
for (const auto &p1 : shape) {
|
||
|
|
length += (*p0 - p1).template cast<int64_t>().norm();
|
||
|
|
if (length >= check_length)
|
||
|
|
return false;
|
||
|
|
p0 = &p1;
|
||
|
|
}
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
void WallToolPaths::removeSmallLines(std::vector<VariableWidthLines> &toolpaths)
|
||
|
|
{
|
||
|
|
for (VariableWidthLines &inset : toolpaths) {
|
||
|
|
for (size_t line_idx = 0; line_idx < inset.size(); line_idx++) {
|
||
|
|
ExtrusionLine &line = inset[line_idx];
|
||
|
|
coord_t min_width = std::numeric_limits<coord_t>::max();
|
||
|
|
for (const ExtrusionJunction &j : line)
|
||
|
|
min_width = std::min(min_width, j.w);
|
||
|
|
if (line.is_odd && !line.is_closed && shorterThan(line, min_width / 2)) { // remove line
|
||
|
|
line = std::move(inset.back());
|
||
|
|
inset.erase(--inset.end());
|
||
|
|
line_idx--; // reconsider the current position
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void WallToolPaths::simplifyToolPaths(std::vector<VariableWidthLines> &toolpaths)
|
||
|
|
{
|
||
|
|
for (size_t toolpaths_idx = 0; toolpaths_idx < toolpaths.size(); ++toolpaths_idx)
|
||
|
|
{
|
||
|
|
const int64_t maximum_resolution = Slic3r::Arachne::meshfix_maximum_resolution;
|
||
|
|
const int64_t maximum_deviation = Slic3r::Arachne::meshfix_maximum_deviation;
|
||
|
|
const int64_t maximum_extrusion_area_deviation = Slic3r::Arachne::meshfix_maximum_extrusion_area_deviation; // unit: μm²
|
||
|
|
for (auto& line : toolpaths[toolpaths_idx])
|
||
|
|
{
|
||
|
|
line.simplify(maximum_resolution * maximum_resolution, maximum_deviation * maximum_deviation, maximum_extrusion_area_deviation);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
const std::vector<VariableWidthLines> &WallToolPaths::getToolPaths()
|
||
|
|
{
|
||
|
|
if (!toolpaths_generated)
|
||
|
|
return generate();
|
||
|
|
return toolpaths;
|
||
|
|
}
|
||
|
|
|
||
|
|
void WallToolPaths::separateOutInnerContour()
|
||
|
|
{
|
||
|
|
//We'll remove all 0-width paths from the original toolpaths and store them separately as polygons.
|
||
|
|
std::vector<VariableWidthLines> actual_toolpaths;
|
||
|
|
actual_toolpaths.reserve(toolpaths.size()); //A bit too much, but the correct order of magnitude.
|
||
|
|
std::vector<VariableWidthLines> contour_paths;
|
||
|
|
contour_paths.reserve(toolpaths.size() / inset_count);
|
||
|
|
inner_contour.clear();
|
||
|
|
for (const VariableWidthLines &inset : toolpaths) {
|
||
|
|
if (inset.empty())
|
||
|
|
continue;
|
||
|
|
bool is_contour = false;
|
||
|
|
for (const ExtrusionLine &line : inset) {
|
||
|
|
for (const ExtrusionJunction &j : line) {
|
||
|
|
if (j.w == 0)
|
||
|
|
is_contour = true;
|
||
|
|
else
|
||
|
|
is_contour = false;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (is_contour) {
|
||
|
|
#ifdef DEBUG
|
||
|
|
for (const ExtrusionLine &line : inset)
|
||
|
|
for (const ExtrusionJunction &j : line)
|
||
|
|
assert(j.w == 0);
|
||
|
|
#endif // DEBUG
|
||
|
|
for (const ExtrusionLine &line : inset) {
|
||
|
|
if (line.is_odd)
|
||
|
|
continue; // odd lines don't contribute to the contour
|
||
|
|
else if (line.is_closed) // sometimes an very small even polygonal wall is not stitched into a polygon
|
||
|
|
inner_contour.emplace_back(line.toPolygon());
|
||
|
|
}
|
||
|
|
} else {
|
||
|
|
actual_toolpaths.emplace_back(inset);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
if (!actual_toolpaths.empty())
|
||
|
|
toolpaths = std::move(actual_toolpaths); // Filtered out the 0-width paths.
|
||
|
|
else
|
||
|
|
toolpaths.clear();
|
||
|
|
|
||
|
|
//The output walls from the skeletal trapezoidation have no known winding order, especially if they are joined together from polylines.
|
||
|
|
//They can be in any direction, clockwise or counter-clockwise, regardless of whether the shapes are positive or negative.
|
||
|
|
//To get a correct shape, we need to make the outside contour positive and any holes inside negative.
|
||
|
|
//This can be done by applying the even-odd rule to the shape. This rule is not sensitive to the winding order of the polygon.
|
||
|
|
//The even-odd rule would be incorrect if the polygon self-intersects, but that should never be generated by the skeletal trapezoidation.
|
||
|
|
inner_contour = union_(inner_contour, ClipperLib::PolyFillType::pftEvenOdd);
|
||
|
|
}
|
||
|
|
|
||
|
|
const Polygons& WallToolPaths::getInnerContour()
|
||
|
|
{
|
||
|
|
if (!toolpaths_generated && inset_count > 0)
|
||
|
|
{
|
||
|
|
generate();
|
||
|
|
}
|
||
|
|
else if(inset_count == 0)
|
||
|
|
{
|
||
|
|
return outline;
|
||
|
|
}
|
||
|
|
return inner_contour;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool WallToolPaths::removeEmptyToolPaths(std::vector<VariableWidthLines> &toolpaths)
|
||
|
|
{
|
||
|
|
toolpaths.erase(std::remove_if(toolpaths.begin(), toolpaths.end(), [](const VariableWidthLines& lines)
|
||
|
|
{
|
||
|
|
return lines.empty();
|
||
|
|
}), toolpaths.end());
|
||
|
|
return toolpaths.empty();
|
||
|
|
}
|
||
|
|
|
||
|
|
/*!
|
||
|
|
* Get the order constraints of the insets when printing walls per region / hole.
|
||
|
|
* Each returned pair consists of adjacent wall lines where the left has an inset_idx one lower than the right.
|
||
|
|
*
|
||
|
|
* Odd walls should always go after their enclosing wall polygons.
|
||
|
|
*
|
||
|
|
* \param outer_to_inner Whether the wall polygons with a lower inset_idx should go before those with a higher one.
|
||
|
|
*/
|
||
|
|
std::unordered_set<std::pair<const ExtrusionLine *, const ExtrusionLine *>, boost::hash<std::pair<const ExtrusionLine *, const ExtrusionLine *>>> WallToolPaths::getRegionOrder(const std::vector<ExtrusionLine *> &input, const bool outer_to_inner)
|
||
|
|
{
|
||
|
|
std::unordered_set<std::pair<const ExtrusionLine *, const ExtrusionLine *>, boost::hash<std::pair<const ExtrusionLine *, const ExtrusionLine *>>> order_requirements;
|
||
|
|
|
||
|
|
// We build a grid where we map toolpath vertex locations to toolpaths,
|
||
|
|
// so that we can easily find which two toolpaths are next to each other,
|
||
|
|
// which is the requirement for there to be an order constraint.
|
||
|
|
//
|
||
|
|
// We use a PointGrid rather than a LineGrid to save on computation time.
|
||
|
|
// In very rare cases two insets might lie next to each other without having neighboring vertices, e.g.
|
||
|
|
// \ .
|
||
|
|
// | / .
|
||
|
|
// | / .
|
||
|
|
// || .
|
||
|
|
// | \ .
|
||
|
|
// | \ .
|
||
|
|
// / .
|
||
|
|
// However, because of how Arachne works this will likely never be the case for two consecutive insets.
|
||
|
|
// On the other hand one could imagine that two consecutive insets of a very large circle
|
||
|
|
// could be simplify()ed such that the remaining vertices of the two insets don't align.
|
||
|
|
// In those cases the order requirement is not captured,
|
||
|
|
// which means that the PathOrderOptimizer *might* result in a violation of the user set path order.
|
||
|
|
// This problem is expected to be not so severe and happen very sparsely.
|
||
|
|
|
||
|
|
coord_t max_line_w = 0u;
|
||
|
|
for (const ExtrusionLine *line : input) // compute max_line_w
|
||
|
|
for (const ExtrusionJunction &junction : *line)
|
||
|
|
max_line_w = std::max(max_line_w, junction.w);
|
||
|
|
if (max_line_w == 0u)
|
||
|
|
return order_requirements;
|
||
|
|
|
||
|
|
struct LineLoc
|
||
|
|
{
|
||
|
|
ExtrusionJunction j;
|
||
|
|
const ExtrusionLine *line;
|
||
|
|
};
|
||
|
|
struct Locator
|
||
|
|
{
|
||
|
|
Point operator()(const LineLoc &elem) { return elem.j.p; }
|
||
|
|
};
|
||
|
|
|
||
|
|
// How much farther two verts may be apart due to corners.
|
||
|
|
// This distance must be smaller than 2, because otherwise
|
||
|
|
// we could create an order requirement between e.g.
|
||
|
|
// wall 2 of one region and wall 3 of another region,
|
||
|
|
// while another wall 3 of the first region would lie in between those two walls.
|
||
|
|
// However, higher values are better against the limitations of using a PointGrid rather than a LineGrid.
|
||
|
|
constexpr float diagonal_extension = 1.9f;
|
||
|
|
const auto searching_radius = coord_t(max_line_w * diagonal_extension);
|
||
|
|
using GridT = SparsePointGrid<LineLoc, Locator>;
|
||
|
|
GridT grid(searching_radius);
|
||
|
|
|
||
|
|
for (const ExtrusionLine *line : input)
|
||
|
|
for (const ExtrusionJunction &junction : *line) grid.insert(LineLoc{junction, line});
|
||
|
|
for (const std::pair<const SquareGrid::GridPoint, LineLoc> &pair : grid) {
|
||
|
|
const LineLoc &lineloc_here = pair.second;
|
||
|
|
const ExtrusionLine *here = lineloc_here.line;
|
||
|
|
Point loc_here = pair.second.j.p;
|
||
|
|
std::vector<LineLoc> nearby_verts = grid.getNearby(loc_here, searching_radius);
|
||
|
|
for (const LineLoc &lineloc_nearby : nearby_verts) {
|
||
|
|
const ExtrusionLine *nearby = lineloc_nearby.line;
|
||
|
|
if (nearby == here)
|
||
|
|
continue;
|
||
|
|
if (nearby->inset_idx == here->inset_idx)
|
||
|
|
continue;
|
||
|
|
if (nearby->inset_idx > here->inset_idx + 1)
|
||
|
|
continue; // not directly adjacent
|
||
|
|
if (here->inset_idx > nearby->inset_idx + 1)
|
||
|
|
continue; // not directly adjacent
|
||
|
|
if (!shorter_then(loc_here - lineloc_nearby.j.p, (lineloc_here.j.w + lineloc_nearby.j.w) / 2 * diagonal_extension))
|
||
|
|
continue; // points are too far away from each other
|
||
|
|
if (here->is_odd || nearby->is_odd) {
|
||
|
|
if (here->is_odd && !nearby->is_odd && nearby->inset_idx < here->inset_idx)
|
||
|
|
order_requirements.emplace(std::make_pair(nearby, here));
|
||
|
|
if (nearby->is_odd && !here->is_odd && here->inset_idx < nearby->inset_idx)
|
||
|
|
order_requirements.emplace(std::make_pair(here, nearby));
|
||
|
|
} else if ((nearby->inset_idx < here->inset_idx) == outer_to_inner) {
|
||
|
|
order_requirements.emplace(std::make_pair(nearby, here));
|
||
|
|
} else {
|
||
|
|
assert((nearby->inset_idx > here->inset_idx) == outer_to_inner);
|
||
|
|
order_requirements.emplace(std::make_pair(here, nearby));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return order_requirements;
|
||
|
|
}
|
||
|
|
|
||
|
|
} // namespace Slic3r::Arachne
|